diff --git a/.gitattributes b/.gitattributes
index 2afd6b32fd0de04c3d7c3f7552b2537581197673..c420892e0114b057ef07f2c5607e12fa76ad7f6e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4749,9 +4749,5 @@ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/coffee_cup_003.us
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 dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/mjcf/mesh/coffee_cup_003.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mesh/mug_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/7b3e22f9c63c5fb695f4442cdc1f37ef/mug_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/mesh/thermos_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/mesh/thermos_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/mjcf/mesh/thermos_001.obj filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/ware/76f7859e87055a3181fdfea383711702/thermos_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material.mtl b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2fd6c6f2db58bd471287b7b78b53d99e18c83b84
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl thermos_033_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material_0.png b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.glb b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.glb
@@ -0,0 +1,3 @@
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+size 14056940
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.mtl b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e77153f0f9cd92c653c3fc72ca8a402913e00d6
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.mtl
@@ -0,0 +1,6 @@
+newmtl thermos_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42a6a46f07ec1f9e17b340b504f7bfcf6c9ba25
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033.obj
@@ -0,0 +1,108702 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_collision.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55cd8851588b687e08120752b2ef2ceb097df4bf
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_collision.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_geometry_Looks_material_0.png b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04c9b191ee5dd6e1f6ee4aeac9f07c282ba99bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mesh/thermos_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f959e151eaa2e6da4aaa183e378ed154816a3ecab6dd92841bbb85227ebe959
+size 10820094
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04c9b191ee5dd6e1f6ee4aeac9f07c282ba99bd5
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f959e151eaa2e6da4aaa183e378ed154816a3ecab6dd92841bbb85227ebe959
+size 10820094
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a672e6762c7d29c3b15dd8189a57a2042a71ed63
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl thermos_033_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1284af249bbe6e49efba11755795a95c64869f2b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision.obj
@@ -0,0 +1,8527 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_0.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a770266d9711591f21e1959c29ad3b3bf27a6a4d
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_0.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_1.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6108d3080d83727daab757eb11580efba3501218
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_1.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_2.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7894712ae53bc28630bc06ababf331a2ce536b
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_2.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_3.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4d04386acb13227baff8a2a5bdd8e57e261bd5e
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_3.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_4.obj b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5af7af2506b065ae130b9f181a16d1e590b761a1
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/mesh/thermos_033_collision_4.obj
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/thermos_033.xml b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/thermos_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1d5d7c4a7973baa0e34dbac72a1d97da0f610041
--- /dev/null
+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/mjcf/thermos_033.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="thermos_033">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/thermos_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/thermos_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/thermos_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/thermos_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/thermos_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/thermos_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="thermos_033">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/textures/material_0.png b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9f959e151eaa2e6da4aaa183e378ed154816a3ecab6dd92841bbb85227ebe959
+size 10820094
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.urdf b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.urdf
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+++ b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="thermos_033">
+   <link name="thermos_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_033.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/thermos_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>793c9a286b5a5b87af4c99e2959c29a9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>ware</super_category>
+         <category>thermos</category>
+         <name>blue thermos</name>
+         <color>blue,silver</color>
+         <shape>cylinder</shape>
+         <material>metal</material>
+         <description>dark blue insulated thermos bottle with metal neck and hinged handle</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611160857</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.039801 -0.035257 -0.067902</min>
+            <max>0.038132 0.035248 0.092098</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.usd b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/thermos_033.usd
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+size 4839966
diff --git a/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/video.mp4 b/dataset/kitchen_supplies/ware/793c9a286b5a5b87af4c99e2959c29a9/video.mp4
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